Easy way to control Kinect motor through OpenNI
BitGriff
Here is easy way to work with Kinect's motor, through OpenNI. No other
drivers or libraries is required.
The code is following:
// OpenNI includes
#include <XnUSB.h>
// Standard includes
#include <stdio.h>
#include <time.h>
/**
* Class to control Kinect's motor.
*/
class KinectMotor
{
public:
KinectMotor();
virtual ~KinectMotor();
/**
* Open device.
* @return true if succeeded, false - overwise
*/
bool Open();
/**
* Close device.
*/
void Close();
/**
* Move motor up or down to specified angle value.
* @param angle angle value
* @return true if succeeded, false - overwise
*/
bool Move(int angle);
private:
XN_USB_DEV_HANDLE m_dev;
bool m_isOpen;
};
KinectMotor::KinectMotor()
{
m_isOpen = false;
}
KinectMotor::~KinectMotor()
{
Close();
}
bool KinectMotor::Open()
{
const XnUSBConnectionString *paths;
XnUInt32 count;
XnStatus res;
// Init OpenNI USB
res = xnUSBInit();
if (res != XN_STATUS_OK) {
xnPrintError(res, "xnUSBInit failed");
return false;
}
// Open "Kinect motor" USB device
res = xnUSBEnumerateDevices(0x045E /* VendorID */, 0x02B0 /*ProductID
*/, &paths, &count);
if (res != XN_STATUS_OK) {
xnPrintError(res, "xnUSBEnumerateDevices failed");
return false;
}
// Open first found device
res = xnUSBOpenDeviceByPath(paths[0], &m_dev);
if (res != XN_STATUS_OK) {
xnPrintError(res, "xnUSBOpenDeviceByPath failed");
return false;
}
XnUChar buf[1]; // output buffer
// Init motor
res = xnUSBSendControl(m_dev, (XnUSBControlType) 0xc0, 0x10, 0x00,
0x00, buf, sizeof(buf), 0);
if (res != XN_STATUS_OK) {
xnPrintError(res, "xnUSBSendControl failed");
Close();
return false;
}
res = xnUSBSendControl(m_dev,
XnUSBControlType::XN_USB_CONTROL_TYPE_VENDOR, 0x06, 0x01, 0x00, NULL,
0, 0);
if (res != XN_STATUS_OK) {
xnPrintError(res, "xnUSBSendControl failed");
Close();
return false;
}
return true;
}
void KinectMotor::Close()
{
if (m_isOpen) {
xnUSBCloseDevice(m_dev);
m_isOpen = false;
}
}
bool KinectMotor::Move(int angle)
{
XnStatus res;
// Send move control request
res = xnUSBSendControl(m_dev, XN_USB_CONTROL_TYPE_VENDOR, 0x31,
angle, 0x00, NULL, 0, 0);
if (res != XN_STATUS_OK) {
xnPrintError(res, "xnUSBSendControl failed");
return false;
}
return true;
}
int main(int argc, char *argv[])
{
KinectMotor motor;
if (!motor.Open()) // Open motor device
return 1;
motor.Move(31); // move it up to 31 degree
Sleep(1000);
motor.Move(-31); // move it down to 31 degree
Sleep(1000);
motor.Move(0);
return 0;
}
flymanbox
AND, Is there any way to control the led State??
> }- 隐藏被引用文字 -
>
> - 显示引用的文字 -
Nicolas Burrus
A stupid question, have you tried it while grabbing images? No USB
resources conflicts? Since the motor is a different usb device I
expect it to work, but if you can already confirm it would be great!
Cheers,
Nicolas
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flymanbox
> > For more options, visit this group athttp://groups.google.com/group/openni-dev?hl=en.- 隐藏被引用文字 -
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Nicolas Tisserand
BitGriff
On 14 дек, 14:02, Nicolas Burrus <nicolas.bur...@gmail.com> wrote:
> Thanks for sharing this!
>
> A stupid question, have you tried it while grabbing images? No USB
> resources conflicts? Since the motor is a different usb device I
> expect it to work, but if you can already confirm it would be great!
>
I tried it, when grabbing image - it works well. :-)
Not tried with depth, and skeleton tracking, but i think, it will work
fine.
Crash
much easier and you have motor and led support and you can still use
openni and nite! And it works for most systems and support C, C+
+ ,C# ... and maybe and some other languages.
Best regards ,Crash.
BitGriff
This method is example of using features, already implemented in
OpenNI.
And it doesn't need openfreenect or any other software.
led controlled the same way - sending USB control request through
OpenNI USB driver.
I need just a few lines of code.
Best regards.
rumppat
My configuration:
OpenNI-Bin-Dev-Linux-x64-v1.4.0.2
Sensor-Bin-Linux-x64-v5.0.5.1_avin2
nite-bin-linux-x64-v1.5.0.2
What I get, when I start the test Program:
"xnUSBSendControl failed: Wrong USB control type requested!"
Can someone please tell my, what is wrong here?
BitGriff
I use OpenNI 1.3.2.3 on Windows 7.
It can be caused by changes in ps3drv USB driver, in your version of
OpenNI.
Best regards,
rumppat
I've chosen a combination of freenect and OpenNI/NITE/Avin2-driver to
be able to control the motor and still being able to create programs
using OpenNI & NITE.
Since I only need the motor control to calibrate my kinect before
demos or presentations of my application, the freenect-glview sample
is just fine for me. :)
KR
rumppat
cherry980711
Andrew Davison
Some time back, I uploaded a chapter and code on doing this in Java.
You can find it at:
http://fivedots.coe.psu.ac.th/~ad/jg/nui16/
- Andrew
陳顥文
Niranjan s
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mini
do you have any ideas on how to do this in C#?
I didn't find any equivalent to "XnUSB.h" in the C# wrapper.
I'm working with Win7 64bit and what I've tried so far is installing
the CL NUI drivers (version 1121) in order to control the kinect's
motor.
What I have managed is to compile and run a simple demo (C#) on x86
but whenever I changed to x64 I get an exception. However I need x64
for Openni.
Thank you very much for your help,
best regards,
Thomas
Roee Shenberg
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Kunal shah
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" Monitor alone uses more than half of computer's total power. I choose to switch off the monitor every time I take a break."
Please consider your environmental responsibility before Printing.
Save paper, save water
Say no to Plastic
Longman
mini
Unfortunately I have never done P/Invokes myself but maybe I will give
it a try ;-)
I tried changing the solution and target platform to AnyCPU or x64 =>
nothing but errors.
Here's a (very very) small example of what I try to do (just the CLNUI
part to control the motor).
___________________________________________________________________
Code:
added CLNUIDevice.cs and CLNUIDevice.dll to Project
// just to see whether I can reach the code in debug mode
IntPtr motor = IntPtr.Zero;
motor = CLNUIDevice.CreateMotor();
Configuration:
Solution Platform: x86, Target Platform: x86,
=> motor = CLNUIDevice.CreateMotor(); can be executed
Any other configuration (Solution Platform: x86 or AnyCPU or x64;
Target Platform x64 or AnyCPU) => error
____________________________________________________________________________________
I found a similar discussion here <http://nkinect.codeplex.com/
discussions/245113> according to which it should work but I wasn't
successful.
If anyone is successful please let me know ;-)
best regards,
Thomas
mini
unfortunately I still had no success in integrating the CL NUI motor
drivers to use them together with the opennni drivers on my 64 bit
system.
Meanwhile I found a discussion ( <http://groups.google.com/group/
openni-dev/browse_thread/thread/9500415cda4d2bdd/8c8e8e14204c5f68?
lnk=gst&q=libfreenect+motor#8c8e8e14204c5f68> )
on using libfreenect drivers for motor control and sticking to the
openni drivers for camera control.
Does anyone know how to install the libfreenect drivers for motor
control over the openni drivers? I didn't find an installation guide
anywhere.
Thanks again for your help,
best regards,
Thomas
Nathaniel
Nathaniel
Tony
Project properties-> linker->dependencies
エルマン 「Herman」
Is there any way to control the motor in linux?
Thanks, really appreciate your help
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Anthony Smart
http://csmartonline.com/blog/2012/03/29/compile-openni-for-kinect-motor-control-on-linux/
That should allow you to successfully use the original script posted above. This is based off of the following patch I found on GitHub:
https://github.com/manctl/openni/commit/5da82cf6d717267e57b97f9fbafc90b71b56572d
However, I have already wrote a program to control the Kinect motor, both in Linux and Windows, which can be found here:
Linux version: http://csmartonline.com/blog/2012/03/29/kinect-motor-control-linux/
Windows version: http://csmartonline.com/blog/2012/03/27/kinect-motor-control/
The program is provided "AS IS" and I do not have any plans for maintaining it.
エルマン
I got:
libusb couldn't open USB device /dev/bus/usb/001/004: Permision denied.
libusb requires write access to usb device nodes.
Kinect not found! Use --help for help.
And if I run under sudo
sudo ./a.out
I got:
Kinect not found! Use --help for help.
I'm going to check the github patch
I really appreciate your help and your time!
Thanks!
Anthony Smart
I just got finished setting up a virtual machine and following my instructions to make sure they actually work for Ubuntu 10.10. Although OpenNI could not compile the samples it comes with (I didn't spend much time on this as they were not my main focus), it was still able to compile it's driver and install successfully. My already compiled version of the program worked as is. Just for kicks, I compiled my program from source to see if it made any difference and that too worked. So now I am at a loss of what the problem could be for you.
If OpenNI is installed and working properly, you should be able to run the samples included with it, (if you were successful in compiling them). If they do not run successfully, then something is wrong with your installation.
Also, the original script posted above will work with very little modification (just need to change the sleep commands to be lowercase and to be '1' instead of '1000' and then use -std=gnu++0x as a g++ option on the command line). Not sure if you know how to do that or not but, I thought I'd throw it in as a option for you to try. :-D
Hope this helps!
paolofuse
Romuuu
Thanks a lot for your code, it works fine for me. But I have a question : where can we find the VendorID and the ProductID? Because my project works for now with Kinect, but we want to support Asus XTion too (and future others if any).
Thank you for your help!
Romu
On Monday, December 12, 2011 6:50:25 PM UTC+1, BitGriff wrote:
Hello all,Here is easy way to work with Kinect's motor, through OpenNI. No other
drivers or libraries is required.The code is following:
// OpenNI includes
#include <XnUSB.h>// Standard includes
#include <stdio.h>
#include <time.h>/**
* Class to control Kinect's motor.
*/
class KinectMotor
{
public:
KinectMotor();
virtual ~KinectMotor();/**
* Open device.
* @return true if succeeded, false - overwise
*/
bool Open();/**
* Close device.
*/
void Close();/**
* Move motor up or down to specified angle value.
* @param angle angle value
* @return true if succeeded, false - overwise
*/
bool Move(int angle);private:
XN_USB_DEV_HANDLE m_dev;
bool m_isOpen;
};KinectMotor::KinectMotor()
{
m_isOpen = false;
}KinectMotor::~KinectMotor()
{
Close();
}bool KinectMotor::Open()
{
const XnUSBConnectionString *paths;
XnUInt32 count;
XnStatus res;// Init OpenNI USB
res = xnUSBInit();
if (res != XN_STATUS_OK) {
xnPrintError(res, "xnUSBInit failed");
return false;
}// Open "Kinect motor" USB device
res = xnUSBEnumerateDevices(0x045E /* VendorID */, 0x02B0 /*ProductID
*/, &paths, &count);
if (res != XN_STATUS_OK) {
xnPrintError(res, "xnUSBEnumerateDevices failed");
return false;
}// Open first found device
res = xnUSBOpenDeviceByPath(paths[0], &m_dev);
if (res != XN_STATUS_OK) {
xnPrintError(res, "xnUSBOpenDeviceByPath failed");
return false;
}XnUChar buf[1]; // output buffer
// Init motor
res = xnUSBSendControl(m_dev, (XnUSBControlType) 0xc0, 0x10, 0x00,
0x00, buf, sizeof(buf), 0);
if (res != XN_STATUS_OK) {
xnPrintError(res, "xnUSBSendControl failed");
Close();
return false;
}res = xnUSBSendControl(m_dev,
XnUSBControlType::XN_USB_CONTROL_TYPE_VENDOR, 0x06, 0x01, 0x00, NULL,
0, 0);
if (res != XN_STATUS_OK) {
xnPrintError(res, "xnUSBSendControl failed");
Close();
return false;
}
return true;
}void KinectMotor::Close()
{
if (m_isOpen) {
xnUSBCloseDevice(m_dev);
m_isOpen = false;
}
}bool KinectMotor::Move(int angle)
{
XnStatus res;// Send move control request
res = xnUSBSendControl(m_dev, XN_USB_CONTROL_TYPE_VENDOR, 0x31,
angle, 0x00, NULL, 0, 0);
if (res != XN_STATUS_OK) {
xnPrintError(res, "xnUSBSendControl failed");
return false;
}
return true;
}int main(int argc, char *argv[])
{
KinectMotor motor;if (!motor.Open()) // Open motor device
return 1;motor.Move(31); // move it up to 31 degree
Sleep(1000);motor.Move(-31); // move it down to 31 degree
Sleep(1000);motor.Move(0);
return 0;
}
Romuuu
Longman
Anthony Smart
I was beginning to wonder if it would work for anyone else but me...
Romuuu
I have another question : is it normal that the LED is red when I use this code? Even after the program close.
Thank You!
Romu
Bartłomiej Hołota
jmendeth
El divendres 20 d’abril de 2012 0:11:42 UTC+2, Bartłomiej Hołota va escriure:
